EP2670078B1 - Appareil de communication pour un réseau de communication industriel fonctionnant de manière redondante et procédé de fonctionnement d'un appareil de communication - Google Patents

Appareil de communication pour un réseau de communication industriel fonctionnant de manière redondante et procédé de fonctionnement d'un appareil de communication Download PDF

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Publication number
EP2670078B1
EP2670078B1 EP12169919.3A EP12169919A EP2670078B1 EP 2670078 B1 EP2670078 B1 EP 2670078B1 EP 12169919 A EP12169919 A EP 12169919A EP 2670078 B1 EP2670078 B1 EP 2670078B1
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European Patent Office
Prior art keywords
signal processing
transmitting
processing unit
redundancy
messages
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EP12169919.3A
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German (de)
English (en)
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EP2670078A1 (fr
Inventor
Hermann Angst
Joachim Lohmeyer
Michael Kasper
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Siemens AG
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Siemens AG
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/22—Arrangements for detecting or preventing errors in the information received using redundant apparatus to increase reliability
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40169—Flexible bus arrangements
    • H04L12/40176—Flexible bus arrangements involving redundancy
    • H04L12/40182—Flexible bus arrangements involving redundancy by using a plurality of communication lines
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/46—Interconnection of networks
    • H04L12/4604—LAN interconnection over a backbone network, e.g. Internet, Frame Relay
    • H04L12/462—LAN interconnection over a bridge based backbone
    • H04L12/4625—Single bridge functionality, e.g. connection of two networks over a single bridge
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L49/00—Packet switching elements
    • H04L49/55—Prevention, detection or correction of errors
    • H04L49/557—Error correction, e.g. fault recovery or fault tolerance

Definitions

  • An industrial automation system usually includes a plurality of networked via an industrial communication network automation devices and is used in the context of manufacturing or process automation for the control or regulation of equipment, machinery or equipment. Due to time-critical framework conditions in technical systems automated by means of industrial automation systems, in industrial communication networks for communication between automation devices predominantly real-time communication protocols such as Profinet, Profibus or Real-Time Ethernet are used.
  • Interruptions of communication links between computer units of an industrial automation system or automation devices may lead to an undesirable or unnecessary repetition of a transmission of a service request. This causes an additional load communication links of the industrial automation system, which may lead to further system faults or errors.
  • a particular problem arises in industrial automation systems regularly from a message traffic with relatively many, but relatively short messages, whereby the above problems are amplified.
  • MRP Media Redundancy Protocol
  • Impacted media redundancy methods can basically be implemented with relatively little effort.
  • the disadvantage is that, on the one hand, messages can be lost in the event of a fault and, on the other hand, a fault condition is present during a reconfiguration of a communications network.
  • Such a fault condition must be secured by a higher-level communication protocol, for example by means of TCP / IP at the switching or transport layer level, in order to avoid an interruption of a communication connection.
  • High-availability Seamless Redundancy (HSR) and Parallel Redundancy Protocol (PRP) are defined in the standard IEC 62439-3 and enable a bumpless redundant transmission of messages.
  • HSR High-availability Seamless Redundancy
  • PRP Parallel Redundancy Protocol
  • each message is duplicated and transmitted by a sending communication device sent two different ways to a recipient.
  • a receiver-side communication device duplicate representing redundant messages are filtered out of a received data stream.
  • a network component that provides access to the redundant communication network may take on different roles.
  • Such a network component which transmits messages between subscribers or terminals in an HSR or PRP communication network on the one hand and terminals or network segments without HSR / PRP functionality on the other hand, is referred to as HSR / PRP proxy or RedBox.
  • a network component for accessing a redundant HSR or PRP communication network can connect multiple HSR rings or implement communication between HSR and PRP network segments, see eg EP 1 657 888 , In this case, the network component is referred to as HSR-HSR coupler or QuadBox or HSR-PRP coupler.
  • a method for operating a network that has a switch and network infrastructure devices connected thereto.
  • the switch is controlled by a control unit.
  • a redundancy unit connected between the switch and the control unit analyzes a data flow between the switch and the control unit and, depending on an analysis result, inserts data into the data stream or removes data from the data stream.
  • EP 2 282 452 A1 a method for data transmission within a ring-like communication network is described in which the data transmission takes place according to High-availability Seamless Redundancy and the communication network comprises at least one master node, a source node and a destination node.
  • Each node has a first and a second one Communication interface with a respective first and second neighboring node.
  • each node receives data frames via the first communication interface and forwards the received data frame either changed or unchanged via the second communication interface without additional delay.
  • the master node sends first and second redundant data frames or empty data frames to its first and second neighboring nodes, respectively.
  • the source node fills the respective data frames in a predetermined reserved area with process data. Each filled data frame is then forwarded immediately and individually to the first or second neighboring node of the source node.
  • the destination node finally extracts the process data from the first received filled data frame of a pair of redundant data frames.
  • EP 2 413 538 A1 there is known a method of redundant communication in a communication system that includes multiple communication networks.
  • the communication networks are connected to each other via at least one coupling node.
  • a retransmission of data originating from a first communication network from a second communication network back into the first communication network is prevented on the basis of information defined before data transmission.
  • the present invention has for its object to provide a powerful and cost-effective communication device for efficient coupling of a plurality of HSR or PRP network segments to a redundancy-free subnet or to a simply connected network node and a method for operating such a communication device.
  • a signal processing unit is connected to the first and second transmitting and receiving units.
  • the signal processing unit has a multiplexer unit for parallel transmission of messages to be transmitted to both transmission units and a redundancy treatment unit for processing received units of both reception units.
  • the redundancy handling unit also includes a filter unit configured to detect received redundant messages. Depending on the protocol level, a message can be represented, for example, by a data segment, a data packet or a data frame.
  • a coupling element is connected, via which a simply connected network node or a redundancy-free subnet is connected to the signal processing unit.
  • the coupling element is preferably a high-speed bus, via which, for example, further simply connected network nodes or redundancy-free subnetworks can be connected to the signal processing unit.
  • the coupling element in principle be realized by means of a matrix switching network. A data transmission within the industrial communication network, for example, according to high-availability Seamless Redundancy or according to Parallel Redundancy Protocol.
  • the signal processing unit according to the invention is connected via the coupling element to a plurality of first and second transmitting and receiving units.
  • a first transmitting and receiving unit and a second transmitting and receiving unit assigned thereto have an identical network address and an identical device identifier.
  • the coupling element is assigned a control unit which is set up for operation of virtual local networks.
  • Virtual local networks are subsumed, for example, as logical VLANs of communication users or connections.
  • a device of a virtual local network can be port-based or dynamic.
  • the signal processing unit is configured for the parallel forwarding of messages to be transmitted and for the detection of received redundant messages for all first and second transmitting and receiving units on the basis of an identifier of the respective virtual local network.
  • the communication device enables a coupling of several HSR or PRP network segments with only one signal processing unit.
  • the signal processing unit is preferably by means of a field programmable gate array (FPGA) realized, and the coupling element is, for example, a backplane switch with associated controller.
  • FPGA field programmable gate array
  • an FPGA can act as a coprocessor for a backplane switch controller network coupling tasks.
  • the backplane switch can be connected to the signal processing unit via at least one interlink connection with the simply connected network node or redundancy-free subnetwork. Since backplane switch controllers typically have VLAN functionality, interfacing an FPGA as a backplane switch coprocessor can be simplified.
  • the FPGA can differentially handle messages according to respective HSR or PRP network segments based on respective VLAN identifiers in data frames. In this way, a considerable effort reduction for a coupling of multiple redundant network segments is possible. This affects on the one hand manufacturing costs and energy consumption of the communication device according to the invention, on the other hand, but also on a smaller footprint due to more compact dimensions.
  • an FPGA for storing a table (proxy node table) with information on all connected to the coupling element simply connected network nodes can be used.
  • the communication device according to the invention can be used as a basis to implement devices such as HSR / PRP proxy or HSR / PRP RedBox in a simple manner.
  • the communication device according to the invention can be designed as a RedBox, QuadBox or HSR-PRP coupler, depending on the field of application. Different fields of application thus represent no restriction for the usability of the communication device according to the invention.
  • a backplane switch is designed for a multiple data throughput in comparison to subordinate redundant network segments. For example, if multiple HSR rings to be coupled are implemented in 1OOMBit technology, using a Backplane Switch in IGBit technology will not result in throughput problems for a typical number of HSR rings to be coupled.
  • the coupling element is connected to a plurality of simply connected network nodes or redundancy-free subnets.
  • an additional virtual local area network is set up for the simply connected network node or the redundancy-free subnetworks assigned connections as well as the connection assigned to the signal processing unit.
  • This allows multiple redundant HSR or PRP network segments to be easily connected to multiple redundancy-free network segments.
  • the signal processing unit and the coupling element can furthermore be connected to one another via a plurality of terminals. For this purpose, only a configuration adaptation of the virtual local networks is required.
  • Mutually redundant messages are identified by a uniform sequence number according to a further embodiment of the communication device according to the invention.
  • the signal processing unit is assigned a memory unit which is set up to store sequence numbers of messages already received without errors.
  • the redundancy treatment unit is set up in this further embodiment for checking for an already stored sequence number upon receipt of a new message. In this way, a relief of the coupling element from a determination and treatment redundantly sent messages possible, so that a corresponding functionality can be integrated into a signal processing unit based coprocessor for the coupling element.
  • the communication device comprises at least a first and a second transmitting and receiving unit, each having an interface for a network connection of the industrial communication network. Both transmit and receive units have an identical network address and an identical device identifier. Connected to the first and second transmitting and receiving units is a signal processing unit which forwards messages to be transmitted in parallel to both transmitting units and detects redundant messages received by the receiving units.
  • a coupling element is connected to the signal processing unit, via which a simply connected network node or a redundancy-free subnetwork is connected to the signal processing unit.
  • messages can be transmitted, for example, according to High-availability Seamless Redundancy or according to Parallel Redundancy Protocol.
  • the signal processing unit is connected according to the inventive method via the coupling element with a plurality of first and second transmitting and receiving units.
  • a first transmitting and receiving unit and a second transmitting and receiving unit assigned thereto have an identical network address and an identical device identifier.
  • the coupling element is further associated with a control unit, which is set up for operation of virtual local area networks. For every couple A virtual local area network is set up in each case by a first transmission and reception unit and a connection assigned to a second transmission and reception unit and a connection assigned to the signal processing unit.
  • the signal processing unit for all first and second transmitting and receiving units based on an identifier of the respective virtual local area network to send messages in parallel to the respective first and second transmitting and receiving unit and detects received redundant messages.
  • the identifier of a virtual local area network can be realized, for example, by means of frame tagging in accordance with IEEE 802.1Q, Inter-Switch Link (ISL) or FDDI 802.10 (Fiber Distributed Data Interface).
  • ISL Inter-Switch Link
  • FDDI 802.10 Fiber Distributed Data Interface
  • the coupling element is connected to a plurality of simply connected network nodes or redundancy-free subnets.
  • an additional virtual local area network is set up for the simply connected network node or the redundancy-free subnetworks assigned connections as well as the connection assigned to the signal processing unit.
  • mutually redundant messages are identified in accordance with a preferred embodiment of the method according to the invention by a uniform sequence number.
  • sequence numbers of messages already received without error are preferably stored in a memory unit assigned to the signal processing unit. Upon receipt of a new message, the signal processing unit can therefore easily check its sequence number for correspondence with an already stored sequence number.
  • the communication device 1 shown in the figure for a redundantly operable industrial communication network comprises a plurality of first 101, 103, 105 and second transmitting and receiving units 102, 104, 106, each having an interface for a network connection of a redundantly operated subnet 21-23.
  • messages within a first and second subnetwork 21, 22 are transmitted in accordance with high availability seamless redundancy, while messages within a third subnetwork 23 are transmitted in accordance with a parallel redundancy protocol.
  • a message comprises at least one data frame.
  • the first two subnetworks 21, 22 each comprise a plurality of HSR network nodes 211-216, 221-226 interconnected in a ring structure via network connections. For this purpose, for example counting an HSR node associated with a supervisory control and data acquisition (SCADA) system of an industrial manufacturing or process automation system.
  • SCADA supervisory control and data acquisition
  • In the ring structure of the first two subnetworks 21, 22 and the communication device 1 shown in the figure is involved, which represents in the present embodiment, a RedBox connected to several redundantly operated subnets 21-23.
  • the third subnetwork 23 comprises two mutually redundant network segments 231, 232, to which a plurality of PRP network nodes 51-53 are connected twice.
  • Merged first and second transmit and receive units 101-102, 103-104, 105-106 have an identical network address and an identical MAC address.
  • a coupling element 12 realized by a backplane switch
  • the first and second transmitting and receiving units 101-106 are connected to a signal processing unit 11 implemented by a field programmable gate array (FPGA).
  • FPGA field programmable gate array
  • signal processing unit 11 and the coupling element 12 are connected to each other in the present embodiment, only via a single terminal 13.
  • the signal processing unit 11 and the coupling element 12 can also be connected to one another via a plurality of terminals for increased performance.
  • the signal processing unit 11 has a multiplexer unit 111 for the parallel forwarding of messages to be transmitted to the transmitting and receiving units 101-106 and a redundancy handling unit 112 for processing of the messages 41, 42 received by the transmitting and receiving units 101-106.
  • the redundancy handling unit 112 includes a filter unit 113 that is configured to detect received redundant messages.
  • the coupling element 12 having an associated controller 121 is connected in each case via an interlink connection 11, 12, In to a simply connected network node 31-33.
  • the coupling element 12 could also be connected to one or more redundancy-free subnetworks. The following explanations apply equally to such an application.
  • the signal processing unit 11 additionally has a memory unit 116, in which a table (proxy node table) is stored with information on all the single-connected network nodes 31-33 connected to the coupling element 12. This allows easy management of simply connected network nodes 31-33 connected to the communication device 1.
  • a table proxy node table
  • the controller 121 of the coupling element 12 includes a control unit 122 for configuring and managing virtual local area networks for aggregating subscriber groups across broadcast domain boundaries.
  • the controller 121 is configured for operation of virtual local area networks.
  • An / Bn of a first transmitting and receiving unit 101, 103, 105 and one of these associated second transmitting and receiving unit 102, 104, 106 associated terminals and the terminal 13 between the signal processing unit 11 and Coupling element each a virtual local area network is established.
  • Messages associated with a virtual local area network are identified, for example, by an identifier of the virtual local area network inserted in a respective data frame.
  • This identifier is evaluated by a special evaluation unit 114 of the redundancy treatment unit 112.
  • the signal processing unit 11 for all first and second transmitting and receiving units 101-106 on the basis of the identifier of the respective virtual local network to send messages in parallel to the respective first and second transmitting and receiving unit and detect received redundant messages.
  • only one signal processing unit 11 is required instead of a plurality of signal processing units, which is set up for parallel forwarding of messages to be transmitted and for detecting received redundant messages for all first and second transmitting and receiving units 101-106 based on an identifier of the respective virtual local area network.
  • an additional virtual local area network is also set up for the simply connected network node 31-33 or the redundancy-free subnetworks, and the connection 13 between the signal processing unit 11 and the coupling element 12.
  • the redundancy handling unit 112 is associated with a memory unit 115 which is set up for storing sequence numbers of messages already received without error or for messages already received without errors.
  • the signal processing unit 11 checks its sequence number for correspondence with an already stored sequence number and initiates a redundancy treatment for all the redundantly operated subnetworks 21-23 connected to the communication device 1.
  • the two messages 41, 42 received redundantly from the first subnetwork 21 is forwarded as the resulting message 4 to a simply connected destination network node 31.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Data Exchanges In Wide-Area Networks (AREA)
  • Small-Scale Networks (AREA)

Claims (11)

  1. Appareil de communication pour un réseau de communication industriel pouvant fonctionner de manière redondante comprenant
    - au moins une première et une deuxième unités ( 101, 102 ) d'émission et de réception, qui ont respectivement une interface pour une liaison au réseau de communication industriel, les deux unités d'émission et de réception ayant une adresse de réseau identique et un identificateur d'appareil identique,
    - une unité ( 13 ) de traitement du signal, qui est reliée à la première et à la deuxième unités d'émission et de réception et qui a une unité de multiplexage pour l'acheminement en parallèle de messages à émettre aux deux unités d'émission et une unité de traitement de redondance pour le traitement de messages reçus par les deux unités de réception, l'unité de traitement de redondance comprenant une unité de filtrage, qui est agencée pour détecter la réception de messages redondants,
    - un élément ( 12 ) de couplage, qui est relié à l'unité de traitement du signal, et par lequel un noeud de réseau relié simplement ou un réseau partiel sans redondance est relié à l'unité de traitement du signal,
    caractérisé en ce que
    - l'unité de traitement du signal est reliée par l'élément de couplage à une multiplicité de première et deuxième unités ( 101, 102, 103, 104 ) d'émission et de réception, respectivement une première unité d'émission et de réception et une deuxième unité d'émission et de réception associée à celle-ci ayant une adresse de réseau identique et un identificateur d'appareil identique,
    - il est associé à l'élément de couplage une unité ( 121 ) de commande, qui est agencée pour un fonctionnement de réseaux locaux virtuels, un réseau local virtuel étant agencé respectivement pour chaque paire de bornes associées d'une première unité d'émission et de réception et d'une deuxième unité d'émission et de réception associée à celle-ci ainsi que pour une borne associée à l'unité de traitement du signal,
    - l'unité de traitement du signal est agencée pour l'acheminement en parallèle de messages à émettre et pour la détection de messages redondants reçus pour l'ensemble des première et deuxième unités d'émission et de réception, au moyen d'une caractérisation du réseau local virtuel respectif.
  2. Appareil de communication suivant la revendication 1,
    l'élément de couplage est relié à une multiplicité de noeuds de réseau reliés simplement ou de sous-réseaux sans redondance, dans lequel un réseau local virtuel supplémentaire est agencé pour les bornes associées aux noeuds de réseau reliés simplement ou aux sous-réseaux sans redondance ainsi qu'à la borne associée à l'unité de traitement du signal.
  3. Appareil de communication suivant l'une des revendications 1 ou 2,
    dans lequel l'unité de traitement du signal et l'élément de couplage sont reliés l'un à l'autre par une multiplicité de bornes.
  4. Appareil de communication suivant l'une des revendications 1 à 3,
    dans lequel des messages redondants les uns par rapport aux autres sont caractérisés par un numéro de séquence unitaire, et dans lequel, à l'unité de traitement du signal est associée une unité de mémoire, qui est agencée pour mémoriser des numéros de séquence de messages reçus déjà sans erreur, et dans lequel l'unité de traitement de redondance est agencée pour contrôler, à la réception d'un message nouveau, si son numéro de séquence est déjà mémorisé.
  5. Appareil de communication suivant l'une des revendications 1 à 4,
    dans lequel l'unité de traitement du signal est réalisée au moyen d'un field programmable gate arrays, et dans lequel l'élément de couplage est un backplane switch à dispositif de commande associé, et dans lequel le backplane switch est relié aux noeuds de réseau reliés simplement ou aux sous-réseaux sans redondance par au moins une connexion interlink.
  6. Appareil de communication suivant l'une des revendications 1 à 5,
    dans lequel une transmission de données s'effectue conformément au protocole high-availability seamless redundancy et/ou conformément au protocole parallel redundancy.
  7. Procédé pour faire fonctionner un appareil de communication
    dans un réseau de communication industriel redondant, dans lequel
    - l'appareil de communication comprend au moins une première et une deuxième unités d'émission et de réception, qui ont respectivement une interface pour une liaison au réseau de communication industriel, les unités d'émission et de réception ayant une adresse de réseau identique et un identificateur d'appareil identique,
    - on relie à la première et à la deuxième unités d'émission et de réception une unité de traitement du signal, qui achemine les messages à émettre en parallèle aux deux unités d'émission et détecte des messages redondants reçus par les unités de réception,
    - on relie à l'unité de traitement du signal un élément de couplage par lequel un noeud de réseau relié simplement ou un sous-réseau sans redondance est relié à l'unité de traitement du signal,
    caractérisé en ce que
    - on relie l'unité de traitement du signal par l'élément de couplage à une multiplicité de première et deuxième unités d'émission et de réception, respectivement une première unité d'émission et de réception et une deuxième unité d'émission et de réception associée à celle-ci ayant une adresse de réseau identique et un identificateur d'appareil identique,
    - à l'élément de couplage est associée une unité de commande, qui est agencée pour un fonctionnement de réseaux locaux virtuels, dans lequel on agence, pour chaque paire, respectivement un réseau local virtuel de bornes associées à une première unité d'émission et de réception et à une deuxième unité d'émission et de réception associée à celle-ci ainsi qu'une borne associée à l'unité de traitement du signal,
    - l'unité de traitement du signal achemine, pour l'ensemble des première et deuxième unités d'émission et de réception, au moyen d'une caractérisation du réseau local virtuel respectif, des messages à émettre en parallèle à la première et à la deuxième unités d'émission et de réception respective et détecte la réception de messages redondants.
  8. Procédé suivant la revendication 7,
    dans lequel on relie l'élément de couplage à une multiplicité de noeuds de réseau reliés simplement ou de sous-réseaux sans redondance, un réseau local virtuel supplémentaire étant agencé pour les bornes associées aux noeuds de réseau reliés simplement ou aux sous-réseaux sans redondance ainsi qu'à la borne associée à l'unité de traitement du signal.
  9. Procédé suivant l'une des revendications 7 ou 8,
    dans lequel l'unité de traitement du signal et l'élément de couplage sont reliés entre eux par une multiplicité de bornes.
  10. Procédé suivant l'une des revendications 7 à 9,
    dans lequel on caractérise des messages redondants les uns par rapport aux autres par un numéro de séquence unitaire, et dans lequel on mémorise, dans une unité de mémoire associée à l'unité de traitement du signal, des numéros de séquences de messages reçus déjà sans erreurs, et dans lequel l'unité de traitement du signal contrôle, à la réception d'un message nouveau, si son numéro de séquence coïncide avec un numéro de séquence déjà mémorisé.
  11. Procédé suivant l'une des revendications 7 à 10,
    dans lequel on transmet des messages conformément au protocole high availability seamless redundancy et/ou conformément au protocole parallel redundancy.
EP12169919.3A 2012-05-30 2012-05-30 Appareil de communication pour un réseau de communication industriel fonctionnant de manière redondante et procédé de fonctionnement d'un appareil de communication Active EP2670078B1 (fr)

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Cited By (1)

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EP3301523A1 (fr) 2016-09-30 2018-04-04 Siemens Aktiengesellschaft Système de communication pouvant fonctionner de manière redondante pour un système d'automatisation industriel et procédé de ce fonctionnement

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Publication number Priority date Publication date Assignee Title
DE102013211406A1 (de) * 2013-06-18 2014-12-18 Siemens Aktiengesellschaft Kommunikationsgerät zur Verbindung eines Feldgeräts eines industriellen Automatisierungssystems mit einer ausfallgesicherten Steuerungseinheit und industrielles Automatisierungssystem
CN103683218B (zh) * 2013-12-18 2017-06-23 南京国电南自电网自动化有限公司 基于hsr环网的分布式母线保护装置
CN107359978A (zh) * 2017-07-03 2017-11-17 南京南瑞继保电气有限公司 一种基于数据转发延时测量的hsr/prp网络采样同步方法
CN114745403B (zh) * 2022-03-31 2024-02-06 西门子（中国）有限公司 工业网络通信系统和工业网络通信方法

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